X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FBasicBehaviour.java;h=c91e6138370b8604f5b4126686b84d145bfba04e;hb=d66c5c319eb15f45086d6d0f6bda34b7ebedc42e;hp=2f1dcda6f7addd873ced6ce8a237b58e9ce24984;hpb=e880e959fed2d3506a790d3b361a2ed4aa49a95f;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
index 2f1dcda..c91e613 100644
--- a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
+++ b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
@@ -2,20 +2,51 @@ package nl.ru.des;
 
 import lejos.hardware.motor.EV3LargeRegulatedMotor;
 import lejos.robotics.subsumption.Behavior;
+import nl.ru.des.sensors.SensorCollector;
 
 public abstract class BasicBehaviour implements Behavior{
-	protected EV3LargeRegulatedMotor leftMotor, rightMotor;
+	protected boolean suppressed;
+	protected EV3LargeRegulatedMotor leftMotor, rightMotor, measMotor;
+	protected SensorCollector sensors;
+	protected long time;
 	
-	public BasicBehaviour(nl.ru.des.Sensors sensors, EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor){
+	public BasicBehaviour(SensorCollector sensors, EV3LargeRegulatedMotor leftMotor,
+			EV3LargeRegulatedMotor rightMotor, EV3LargeRegulatedMotor measMotor){
 		this.leftMotor = leftMotor;
 		this.rightMotor = rightMotor;
+		this.measMotor = measMotor;
+		this.sensors = sensors;
+	}
+	
+	protected void reset(){
+		rightMotor.setSpeed(Constants.speed);
+		rightMotor.setAcceleration(Constants.acceleration);
+		leftMotor.setSpeed(Constants.speed);
+		leftMotor.setAcceleration(Constants.acceleration);
+		rightMotor.stop(true);
+		leftMotor.stop(true);
+	}
+
+	protected void rockMeasure(){
+		
+	}
+	
+	protected void lakeMeasure(){
+		
 	}
 	
 	@Override
-	public boolean takeControl() {
-		return true;
+	public void action() {
+		suppressed = false;
 	}
 
 	@Override
-	public void suppress() {}
+	public void suppress() {
+		suppressed = true;
+	}
+	
+	@Override
+	public boolean takeControl() {
+		return true;
+	}
 }